JPS6061811A - Position correcting device for moving body - Google Patents

Abstract

PURPOSE:To set and change a run course easily and to guide a moving body which runs on a specific run course at low cost by providing a means which corrects the course deviation of the moving body automatically. CONSTITUTION:When the moving body 4 runs while deviating from the course by (l), a magnetic field produced around a guide line 2a is detected at a guide detection point P1. The moving body 4 runs along the guide line 2a by being steered so that the detection values of the magnetic field obtained by detection coils 5a and 5b arranged on the right and left of the moving body 4 are equal to each other, thus correcting the deviation. When the horizontal component of the magnetic field established around guide lines 2a and 2b are detected by the detection coils 5a and 5b, the detected voltages of the coils 5a and 5b are maximum in such a direction that the guide lines 2 and coils 5a and 5b cross each other at right angles, and drop extremely in a prallel direction. The guide detection point P3 is detected from the voltage drop to correct an error in the detection of run distance.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a position correction device for a moving body that can automatically travel without receiving continuous support from the outside.

[Technical Background of the Invention and Problems thereof] In general, electromagnetic induction methods, light reflective tape methods, and the like have been known as guidance control methods for moving objects such as traveling vehicles.

In the electromagnetic induction method, an electromagnetic induction wire is laid along the traveling route of the moving object, and the moving object is equipped with a detector that detects the magnetic field generated around the guiding wire, and the moving object moves based on the detection signal of the detector. The vehicle automatically travels along a route by steering the vehicle's body.

However, with this electromagnetic induction method, a groove several centimeters deep is dug in the floor and the electromagnetic induction wire is buried, so the work to create grooves on the floor surface is troublesome, and if the route is complicated and has many branches, the work can extend over several kilometers. This method requires a large amount of money and time, and has the disadvantage that it is difficult to change the route.

On the other hand, the light-reflecting tape method is rarely put into practical use because it often becomes impossible to detect when the floor surface is dirty due to movement of moving objects or dust.

Therefore, 171 bullets with a new guidance system are desired. The ideal form of guidance and control for moving objects is completely autonomous driving that allows the object to reach its destination without any external support. There is a method for automatically traveling by detecting the distance traveled from the rotation of the wheels and determining the self-position, but this is not suitable for long-distance travel because the slippage of the wheels causes an error.

In addition, ideas such as a gyro navigation system that uses a gyro to detect one's own attitude while driving have been proposed, but they have not been put into practical use due to various problems such as the development of small gyros, accuracy, and cost. That is the reality.

OBJECT OF THE INVENTION] The present invention has been made to solve the above-mentioned conventional problems, and provides a position correction device for a moving object that can easily set and change a travel route and guide a moving object at low cost. The purpose is to provide

[Summary of the Invention] In order to achieve the above object, the present invention provides means for correcting the course deviation of a moving object that automatically travels along a predetermined travel route. A guide (reference point) consisting of an oscillator and an electromagnetic induction wire or an optical reflection band is installed at the oscillator, and the trajectory of the moving object is corrected and the detected distance of the moving object, that is, the count value correction of the encoder output pulse number is automatically corrected. This is a position correction device for a moving body that can continue to automatically travel using travel control data.

[Embodiments of the Invention] Hereinafter, each embodiment of the position correction device for a moving body according to the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a first embodiment of the present invention, in which an electromagnetic induction wire 2a is provided as a guide 2 on a travel route 1.

2b is provided. An oscillator 3 is connected to the guide wire 2a. Furthermore, detection coils 5a are located on the left and right sides of the moving body 4.
, 5b are installed. The guide 2 has guide detection points PI, P2, and lengths of P3 as the guide position P.

The output of the oscillator 3, for example 10kHz, is connected to the guide wires 2a and 2b.
Flow a low frequency current of about z. Further, when the guide wires 2a and 2b are laid as shown in FIG. 1, current flows in the same direction through the guide wires 2a and 2b. 1- That is, the directions of the magnetic fields generated around the induced S wires 2a and 2b are the same.

FIG. 2 shows the horizontal component of the magnetic field generated around the guide wire 2a12b detected by a detection coil 5a or 5 installed on the moving body 4.
It is a characteristic diagram when detected by b.

FIG. 2(A) shows the detection characteristics from the detection point P1 to the P2 position of the guide position P. The maximum detection value is at the top of the guide lines 2a and 2b, respectively. On the other hand, Figure 2 (b) shows the detection characteristics from the detection point P2 to P3 position of the guide position P. Since the directions of the magnetic fields generated in the guide wires 2a and 2b are the same, they are combined.

Here, the moving body 4 is shifted by β in FIG. 1 from the predetermined position.
When the vehicle travels in state C, a magnetic field generated around the guide wire 2a is detected at the guide detection point P+'.

By steering the moving body 4 so that the magnetic field generated around the guiding wire 28 becomes equal to the detected values of the detection coils 5a and 5b installed on the left and right sides of the moving body 4, the moving body 4 is moved to the guiding wire 2a. run along. In other words, the trajectory can be corrected.

When the moving body 4 is shifted in the opposite direction, it travels along the guide m 2 b and corrects the trajectory.

Furthermore, when detecting and covering the horizontal component of the magnetic field generated around the guide wires 2a and 2b with the detection coils 5a and 5b, the detection voltage is maximum in the direction in which the guide wire 2 and the detection coils 5a and 5b are orthogonal, and the detection voltage is maximum when the guide wires 2a and 2b are perpendicular to each other. There is a characteristic that when the detection coils 5a and 5b are parallel to each other, the detection voltage decreases significantly (FIG. 3). Guide detection point P3 is detected by this voltage drop,
Corrects the detection error of mileage.

FIG. 4 is a block diagram showing a control system for the movable body and the guide. The detection signals of the detection coils 5a and 15b are the induction circuit 1
1 and is input to the distance correction circuit 12 via the induction circuit 11. The respective outputs of the guidance circuit 11 and the distance correction circuit 12 are input to the microcontroller 14 via the interface 13.

The induction circuit 11 includes input buffers 15a and 15b, amplifier circuits 16a and 16b, rectifier circuits 17a and 117b, and a synthesis circuit 18. On the other hand, the distance correction circuit 12 includes one comparison circuit and a reference signal generation circuit 20.

Next, this operation will be explained. The moving body 4 is at a temperature lower than the predetermined position.
When it reaches the detection point P1 of the guide position P with a deviation of
The magnetic field generated around the induction m2a is detected by the detection coils 5a and 5b. The detection coils 5a' and 5b each output a detection signal of a predetermined magnitude depending on the strength of the magnetic field. The detection signal is sent to the input buffers 15a, 15. After being amplified by the amplifying circuits 16a and 16b via the amplifier circuit b, the signals are rectified by the rectifying circuits 17a and 17b, respectively. The output terminals of the rectifying circuits 17a and 17b are connected to a combining circuit 18, respectively. The synthesis circuit 18 takes the difference between the output signal of the rectifier circuit 17a and the output signal of the rectifier circuit 17b, that is, the difference in signals from the rain detection coils 5a and 5b, and sends it to the microcontroller 14 via the interface 13.

The microcontroller 14 drives the steering motor (not shown) to perform steering operation so that the output of the synthesis circuit 18, that is, the difference in detection signals between the detection coils 5a and 5b becomes small. As a result, the moving body 4 travels along the guide line 2a from the detection point P1 of the guide position P,
It is possible to correct the course.

Further, the outputs of the rectifying circuits 17a and 17b, and the output j signal of 17b in the embodiment shown in FIG. One input terminal of this comparison circuit 19 is connected to an output terminal of a reference signal generation circuit.

One comparison circuit compares the output signal of the rectification circuit 1711 and the output signal of the reference signal generation circuit 20, detects high or low of the output signal of the rectification circuit 17b, and sends it to the microcontroller 14 via the interface 13. Ru. Therefore, the microcontroller 14 determines from the output of the comparison circuit 19 that the moving object 4 has approached the detection point P1 of the guide position P, and controls the traveling of the moving object 4 from the output of the synthesis circuit 18 according to a predetermined program. Control based on signals and make trajectory corrections. It is determined from the output of the comparison circuit 19 that the vehicle has roughly passed the detection point P3 of the guide position P, the travel distance information data of the moving object is corrected, and the predetermined program travel is performed again.

Next, a second embodiment of the present invention will be described with reference to FIGS. 5 to 7. Note that the same parts as in FIG. 1 are indicated by the same reference numerals, and the explanation of the overlapping parts will be omitted.

In FIG. 5, the guide wires as the guide 2 are installed so as to form two parallel guide wires 2C12d. Guide wire 2
Since the currents of the oscillator 3 flow in the opposite directions at the points c and 2d, the characteristics are as shown in FIG. 6. However, since the magnetic fields generated around the guiding wires 2G and 2d have the same strength and are in opposite directions, the detected voltage becomes zero at the center of the guiding wires 2C and 2d, leading to induction! ! ! The detection voltage increases as it approaches 2G or 2d. Therefore, the steering operation is performed so that the output of the combining circuit 18, that is, the signal difference between the detection coils 5a and 5b becomes small. Therefore, as shown in FIG. 7, the moving body 4 can travel toward the center of the guide line 2C12d and correct its trajectory.

FIG. 8 shows a third embodiment of the present invention, in which light reflective bands (tapes) 21, 21a and 21b are used as guides,
A line sensor 22 is used in the moving body 4 to detect the light reflecting tape 21a or 21b at the guide position P1, and the trajectory is corrected by controlling travel along the light reflecting tape 21a or 2b.

Other explanations will be omitted since they are almost the same as those in the first embodiment.

[Effects of the Invention] As explained above, according to the present invention, the moving distance of a moving object is detected by an encoder connected to a rotating shaft such as a wheel, and based on this detected value, the moving object is driven along a predetermined traveling route. In the system of programmatic driving using control data, the orientation and deviation of the moving object are automatically corrected using guides placed in appropriate locations, and at the same time, errors in detected distance are also corrected, so automatic driving can continue using predetermined driving control data.

Additionally, the course can be changed freely between guides by simply modifying the travel control data.

Furthermore, since there is no need to continuously lay guide wires or the like, it is possible to provide a position correction device for a moving body that requires less maintenance and less occurrence of failure.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the running route and guide in the first embodiment, Figs. 2 and 3 are detection characteristic diagrams of the detection coil shown in Fig. 1, and Fig. 4 is a plan view showing the traveling route and guide in the first embodiment. FIG. 5 is a block diagram showing the control system, FIG. 5 is a plan view showing the travel route and guide in the second embodiment, FIG. 6 is a detection characteristic diagram of the detection coil in FIG. 5, and FIG. 7 is the same as in FIG. [A conceptual diagram showing the relationship between the guide wire and the detection coil. FIG. 8 is a plan view showing an example in which a light guide is used as a guide in the third embodiment. 1・・・・・・・・・・・・・・・Driving route 2・・・・
・・・・・・・・・Guide 2a, 2b, :
2G, 2d ・・・・・・・・・・・・Electromagnetic induction wire (guidance wire)
3・・・・・・・・・・・・・Oscillator 4・・・・
......Moving body 5a, 5b...Detection coil P...Guide position PI, P
2, P3...Guide detection point 11...Induction circuit 12...
・・・・・・Distance correction circuit 13・・・・・・・・・・
...Interface 14...Microcontroller 21.21a, 21b...Light reflective band (tape) 22...Linesenza agent patent attorney Noriyuki Chika (Poka 1 person) Figure 6 Figure 7 Figure 8 h P2 P3

Claims (1)

[Scope of Claims] (1) In a position correction device for a moving object that automatically travels along a predetermined travel route, the device is configured to correct the trajectory of a mobile object that has deviated from the travel route to a determined position on the travel route. A position correction device for a moving body, characterized in that a guide is provided, and a guidance circuit that travels according to the guide within the position of the guide, and a distance correction circuit that corrects a detection error in travel distance according to passage of the guide. . (2) The guide uses an electromagnetic induction wire, and the electromagnetic induction wire is installed so that a magnetic field is generated in the same direction from the left and right vicinity of the travel route to a predetermined position. A position correction device for a moving body as described in 2. (3) A patent characterized in that the guide uses an electromagnetic induction wire, and the electromagnetic induction wire is installed so that a magnetic field in the opposite direction is generated from the left and right vicinity of the travel route to a position equidistant to the left and right of a predetermined position. A position correction device for a moving body according to claim 1. (4) A patent characterized in that the guide uses a light reflection band, and the light reflection band is installed from the left and right vicinity of the traveling route to a predetermined position. A position correction device for a moving body according to claim 1.